Some Remarks on the RRR Linkage
Book chapter
Selig, JM (2014). Some Remarks on the RRR Linkage. in: Lenarcic, J and Khatib, O (ed.) Advances in robot kinematics: analysis and design Switzerland Springer. pp. 77 - 85 (9)
Authors | Selig, JM |
---|---|
Editors | Lenarcic, J and Khatib, O |
Abstract | The variety of rigid-body displacements of the final link of a 3 R kinematic chain are investigated. In most cases the variety generated is a Segre manifold; the Cartesian product of three projective lines. The homology of this variety as a subvariety of the Study quadric is found and simple applications to some enumerative problems in kinematics are given. The conditions for the variety to fail to be a Segre variety are investigated in full and the case where the linkage forms the first three joints of a Bennett mechanism is examined. |
Page range | 77 - 85 (9) |
Year | 2014 |
Book title | Advances in robot kinematics: analysis and design |
Publisher | Springer |
Place of publication | Switzerland |
ISBN | 978-3-319-06697-4 |
Publication dates | |
03 Jul 2014 | |
Publication process dates | |
Deposited | 21 Mar 2017 |
Accepted | 03 Jul 2014 |
Digital Object Identifier (DOI) | https://doi.org/10.1007/978-3-319-06698-1_9 |
Accepted author manuscript | License File description Presentation |
Permalink -
https://openresearch.lsbu.ac.uk/item/87803
Download files
Restricted files
Accepted author manuscript
Under embargo indefinitely
114
total views178
total downloads0
views this month1
downloads this month